From d17b33131c14864bd1eae275f49a3f148e21cf29 Mon Sep 17 00:00:00 2001 From: Leo Chan Date: Thu, 22 Oct 2020 01:53:21 -0400 Subject: Squashed commit of the sb-vbs branch. Includes the SD-VBS benchmarks modified to: - Use libextra to loop as realtime jobs - Preallocate memory before starting their main computation - Accept input via stdin instead of via argc Does not include the SD-VBS matlab code. Fixes libextra execution in LITMUS^RT. --- SD-VBS/benchmarks/localization/Makefile | 3 + .../localization/data/GroundData/log1_pose.txt | 11598 ++ .../localization/data/GroundData/log1_sensor.txt | 127357 ++++++++++++++++++ .../data/GroundData/log1_sensor_sort.txt | 127357 ++++++++++++++++++ SD-VBS/benchmarks/localization/data/Makefile | 3 + SD-VBS/benchmarks/localization/data/cif/1.txt | 89 + SD-VBS/benchmarks/localization/data/cif/Makefile | 7 + SD-VBS/benchmarks/localization/data/cif/VBS_Ver1 | Bin 0 -> 99419 bytes SD-VBS/benchmarks/localization/data/cif/cif | Bin 0 -> 99219 bytes SD-VBS/benchmarks/localization/data/cif/expected.m | 3 + .../localization/data/cif/expected_C.txt | 3 + SD-VBS/benchmarks/localization/data/qcif/1.txt | 89 + SD-VBS/benchmarks/localization/data/qcif/Makefile | 8 + .../benchmarks/localization/data/qcif/expected.m | 3 + .../localization/data/qcif/expected_C.txt | 3 + SD-VBS/benchmarks/localization/data/sim/1.txt | 89 + SD-VBS/benchmarks/localization/data/sim/2.txt | 4077 + SD-VBS/benchmarks/localization/data/sim/Makefile | 8 + SD-VBS/benchmarks/localization/data/sim/expected.m | 3 + .../localization/data/sim/expected_C.txt | 3 + SD-VBS/benchmarks/localization/data/sim_fast/1.txt | 26 + SD-VBS/benchmarks/localization/data/sim_fast/2.txt | 203 + .../benchmarks/localization/data/sim_fast/Makefile | 8 + .../localization/data/sim_fast/expected.m | 3 + .../localization/data/sim_fast/expected_C.txt | 3 + SD-VBS/benchmarks/localization/data/sqcif/1.txt | 7 + SD-VBS/benchmarks/localization/data/sqcif/Makefile | 8 + .../benchmarks/localization/data/sqcif/expected.m | 3 + .../localization/data/sqcif/expected_C.txt | 3 + SD-VBS/benchmarks/localization/data/test/1.txt | 7 + SD-VBS/benchmarks/localization/data/test/Makefile | 8 + .../benchmarks/localization/data/test/expected.m | 3 + .../localization/data/test/expected_C.txt | 3 + SD-VBS/benchmarks/localization/data/vga/1.txt | 89 + SD-VBS/benchmarks/localization/data/vga/Makefile | 7 + SD-VBS/benchmarks/localization/data/vga/expected.m | 3 + .../localization/data/vga/expected_C.txt | 3 + .../benchmarks/localization/result/log1_whist.txt | Bin 0 -> 228 bytes SD-VBS/benchmarks/localization/src/c/eul2quat.c | 50 + .../benchmarks/localization/src/c/generateSample.c | 88 + .../localization/src/c/get3DGaussianProb.c | 49 + SD-VBS/benchmarks/localization/src/c/input.txt | 8 + .../benchmarks/localization/src/c/localization.h | 24 + SD-VBS/benchmarks/localization/src/c/mcl.c | 34 + SD-VBS/benchmarks/localization/src/c/quat2eul.c | 47 + SD-VBS/benchmarks/localization/src/c/quatConj.c | 32 + SD-VBS/benchmarks/localization/src/c/quatMul.c | 55 + SD-VBS/benchmarks/localization/src/c/quatRot.c | 47 + .../benchmarks/localization/src/c/readSensorData.c | 63 + .../localization/src/c/script_localization.c | 534 + .../benchmarks/localization/src/c/weightedSample.c | 37 + 51 files changed, 272158 insertions(+) create mode 100644 SD-VBS/benchmarks/localization/Makefile create mode 100755 SD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt create mode 100755 SD-VBS/benchmarks/localization/data/GroundData/log1_sensor.txt create mode 100755 SD-VBS/benchmarks/localization/data/GroundData/log1_sensor_sort.txt create mode 100644 SD-VBS/benchmarks/localization/data/Makefile create mode 100644 SD-VBS/benchmarks/localization/data/cif/1.txt create mode 100644 SD-VBS/benchmarks/localization/data/cif/Makefile create mode 100755 SD-VBS/benchmarks/localization/data/cif/VBS_Ver1 create mode 100755 SD-VBS/benchmarks/localization/data/cif/cif create mode 100644 SD-VBS/benchmarks/localization/data/cif/expected.m create mode 100644 SD-VBS/benchmarks/localization/data/cif/expected_C.txt create mode 100644 SD-VBS/benchmarks/localization/data/qcif/1.txt create mode 100644 SD-VBS/benchmarks/localization/data/qcif/Makefile create mode 100644 SD-VBS/benchmarks/localization/data/qcif/expected.m create mode 100644 SD-VBS/benchmarks/localization/data/qcif/expected_C.txt create mode 100644 SD-VBS/benchmarks/localization/data/sim/1.txt create mode 100644 SD-VBS/benchmarks/localization/data/sim/2.txt create mode 100644 SD-VBS/benchmarks/localization/data/sim/Makefile create mode 100644 SD-VBS/benchmarks/localization/data/sim/expected.m create mode 100644 SD-VBS/benchmarks/localization/data/sim/expected_C.txt create mode 100644 SD-VBS/benchmarks/localization/data/sim_fast/1.txt create mode 100644 SD-VBS/benchmarks/localization/data/sim_fast/2.txt create mode 100644 SD-VBS/benchmarks/localization/data/sim_fast/Makefile create mode 100644 SD-VBS/benchmarks/localization/data/sim_fast/expected.m create mode 100644 SD-VBS/benchmarks/localization/data/sim_fast/expected_C.txt create mode 100644 SD-VBS/benchmarks/localization/data/sqcif/1.txt create mode 100644 SD-VBS/benchmarks/localization/data/sqcif/Makefile create mode 100644 SD-VBS/benchmarks/localization/data/sqcif/expected.m create mode 100644 SD-VBS/benchmarks/localization/data/sqcif/expected_C.txt create mode 100644 SD-VBS/benchmarks/localization/data/test/1.txt create mode 100644 SD-VBS/benchmarks/localization/data/test/Makefile create mode 100644 SD-VBS/benchmarks/localization/data/test/expected.m create mode 100644 SD-VBS/benchmarks/localization/data/test/expected_C.txt create mode 100644 SD-VBS/benchmarks/localization/data/vga/1.txt create mode 100644 SD-VBS/benchmarks/localization/data/vga/Makefile create mode 100644 SD-VBS/benchmarks/localization/data/vga/expected.m create mode 100644 SD-VBS/benchmarks/localization/data/vga/expected_C.txt create mode 100755 SD-VBS/benchmarks/localization/result/log1_whist.txt create mode 100644 SD-VBS/benchmarks/localization/src/c/eul2quat.c create mode 100644 SD-VBS/benchmarks/localization/src/c/generateSample.c create mode 100644 SD-VBS/benchmarks/localization/src/c/get3DGaussianProb.c create mode 100644 SD-VBS/benchmarks/localization/src/c/input.txt create mode 100644 SD-VBS/benchmarks/localization/src/c/localization.h create mode 100644 SD-VBS/benchmarks/localization/src/c/mcl.c create mode 100644 SD-VBS/benchmarks/localization/src/c/quat2eul.c create mode 100644 SD-VBS/benchmarks/localization/src/c/quatConj.c create mode 100644 SD-VBS/benchmarks/localization/src/c/quatMul.c create mode 100644 SD-VBS/benchmarks/localization/src/c/quatRot.c create mode 100644 SD-VBS/benchmarks/localization/src/c/readSensorData.c create mode 100644 SD-VBS/benchmarks/localization/src/c/script_localization.c create mode 100644 SD-VBS/benchmarks/localization/src/c/weightedSample.c (limited to 'SD-VBS/benchmarks/localization') diff --git a/SD-VBS/benchmarks/localization/Makefile b/SD-VBS/benchmarks/localization/Makefile new file mode 100644 index 0000000..60cc0ec --- /dev/null +++ b/SD-VBS/benchmarks/localization/Makefile @@ -0,0 +1,3 @@ +include ../../common/makefiles/Makefile.include +include $(MAKEFILE_COMMON_DIR)/Makefile.recurse + diff --git a/SD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt b/SD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt new file mode 100755 index 0000000..b14576a --- /dev/null +++ b/SD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt @@ -0,0 +1,11598 @@ +1116844391.527211 0.000651 0.001841 1.611056 4422625.792709 483672.630756 -33.995671 +1116844391.577349 -0.000456 0.002267 1.947426 4422625.792709 483672.630756 -33.995671 +1116844391.627188 -0.000622 0.002630 1.934604 4422625.792709 483672.630756 -33.995673 +1116844391.677171 0.000059 0.003221 1.824546 4422625.792709 483672.630756 -33.995673 +1116844391.727197 -0.000313 0.003639 1.830604 4422625.792709 483672.630756 -33.995673 +1116844391.777182 0.000393 0.004790 1.739825 4422625.792709 483672.630756 -33.995673 +1116844391.827188 0.000948 0.004988 1.643562 4422625.792709 483672.630756 -33.995673 +1116844391.877183 0.000563 0.005426 1.638871 4422625.792709 483672.630756 -33.995673 +1116844391.927194 0.001852 0.005653 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